EP3362379B1 - Commissioning system with climbing carriages - Google Patents

Description

1. Field of the invention

The field of the invention is that of warehouse logistics and in particular the handling and transport of parts or products.

More specifically, the invention relates to an order picking system.

The invention finds an application in the automation of the flow management of a storage warehouse, for example in an order preparation warehouse of a supply chain.

2. State of the art

In the global logistics chain, flow management and product handling within a warehouse play a decisive role.

Traditionally, an order picker travels through the warehouse to collect each product of an order from its location on a shelf in a rack.

It is noted that such an organization implies that the preparer travels long journeys during a working day, which causes fatigue and waste of time when the journey is not optimized.

Another disadvantage is that the picker must know the layout of the warehouse perfectly so as not to waste time.

To limit fatigue due to travel, improve management of picking, reduce order preparation time and its cost, we imagined an organization of warehouses where products are transported by machines to at order picking stations.

Thus, it has been proposed to implement conveyors to transport the products from the shelves to the preparation stations, within a warehouse.

A disadvantage of this known technique is that it requires heavy and costly infrastructure.

Another disadvantage of this technique is that it is complex and expensive to develop it.

Another disadvantage is that the conveyors are bulky, which leads to a significant loss of useful storage surface.

There is also known a technique consisting in moving horizontally, along a shelf, a mat supporting an elevator which makes it possible to reach each level of the shelf, in order to pick up or deposit a tray.

A disadvantage of this technique is that it is necessary to consider installing one mast per rack in the warehouse.

Another drawback of this known technique is that it is necessary to provide one or more conveyors at the end of each row of shelves to transport the bins picked up by the mats to the order preparation zone.

On a similar principle, a technique is known consisting in using self-guided shuttles moving on traffic lanes, formed of rails, arranged on several levels, each at the height of a shelf of a shelving. To change levels, the shuttles take a dedicated lift, located at the end of the shelving. When a shuttle has taken a bin from a shelf, it goes down to deposit it on a conveyor located at the foot of the shelving.

A drawback of this known technique is that the shuttles cannot move from one rack to another, which makes it necessary to provide a large number of shuttles.

Another disadvantage of this technique is that it is necessary to provide traffic lanes and conveyors, which is costly.

Another disadvantage of this technique is that the shuttles have to wait for the elevator to be freed to be able to access the conveyor, which slows down the preparation of orders.

In a variant, and to reduce the number of traffic lanes, we have imagined moving an elevator on a traffic lane, to allow shuttles to reach a few shelves above the level of the taxiway.

A disadvantage of this variant is that it is even more expensive and complex to implement.

It has also been proposed to transport shelving arranged in the warehouse to an order picking area using robots. For this, a robot comes to stand under the shelving and lifts it to be able to transport it.

A disadvantage of this known technique is that the storage volume is limited in height, to prevent the shelving from tilting during transport.

To increase the volume stored in a warehouse, thought has also been given to storing the goods directly in bins stacked high and grouped together in a storage area.

Robots circulating at the top of the storage volume are used to extract the bins containing the objects or goods of an order. When a robot has to pick up a bin that is not stored on the upper level, the robot unstacks successively, one after the other, the bins located above this bin. During this operation, the robot gradually replaces each unstacked bin in an empty slot on the surface of the storage volume.

A disadvantage of this technique is that the robots manipulate a large quantity of bins each time to extract a single bin, which slows down the preparation of the order.

We also know, for example from the document US 7101139 B1 , a robot equipped with two retractable toothed wheels on each side of its frame, intended to mesh on vertical racks fixed to shelves, allowing it to rise between two shelves to access the bins in which objects to be picked are stored or down to the level of a motor vehicle to be lowered from a space in a car rack garage.

We also know from the document WO 2010/100513 A2 , a robot that can climb two uprights of the same shelving. This robot is equipped for this purpose with a toothed wheel at the front and a toothed wheel at the rear, which mesh in a rack fixed to each of the uprights.

WO 2010/100513 A2 discloses an order picking system according to the preamble of claim 1.

A disadvantage of this known robot technique equipped with four retractable toothed wheels is that the robot can remain blocked during the ascent or the descent, if the progression in height of one of the four toothed wheels on the racks is not perfectly identical, at all times, to that of the other toothed wheels.

3. Objects of the invention

The object of the invention is therefore in particular to overcome the disadvantages of the prior art mentioned above.

More precisely, the aim of the invention is to provide an order preparation technique which limits human intervention and which is simple to implement.

Another object of the invention is to provide an order picking technique which is inexpensive.

Another object of the invention is to propose an order preparation technique which is compatible with a dense storage area.

An object of the invention is to provide an order preparation technique that can easily adapt to changes in the storage area.

An object of the invention is to provide such a technique which makes it possible to use shelving of different heights and/or orientations in the same warehouse.

Another object of the invention is also to provide an order picking technique that makes it possible to use existing shelving.

Another object of the invention is to provide an order picking technique that is safe for operators working in the same warehouse.

4. Disclosure of Invention

• lesdits moyens de grimpe comprenant deux roues dentées et/ou deux courroies crantées d'axes sensiblement parallèles, destinées chacune à coopérer avec un desdits deux montants, les axes des roues dentées et/ou les axes des poulies entraînant lesdites courroies crantées étant sensiblement orthogonaux aux axes des roues de roulage,
• chacun desdits montants présentant une pluralité d'encoches s'étendant sensiblement perpendiculairement à l'axe longitudinal dudit montant, destinées à accueillir les dents de ladite roue dentée ou de ladite courroie crantée coopérant avec ce montant et espacées de la valeur du pas de ladite roue dentée ou de ladite courroie crantée,
• chacune des roues dentées ou des courroies crantées étant montée sur un support mobile par rapport au châssis dudit chariot entre deux positions :
  • une position écartée dans laquelle au moins une partie de ladite roue dentée ou de ladite courroie crantée montée sur ledit support fait saillie latéralement hors de l'alignement dudit châssis ;
  • une position rétractée, dans laquelle la roue dentée ou la courroie crantée montée sur ledit support est en vis-à-vis dudit châssis.

These objectives, as well as others which will appear subsequently, are achieved with the aid of an order preparation system according to claim 1 comprising two uprights secured to two separate shelves and an automatically guided trolley having at least two wheels of rolling, intended to take objects of an order in at least one of said shelves and motorized climbing means capable of cooperating with said uprights so as to allow said trolley to rise along said uprights,

• said climbing means comprising two toothed wheels and/or two toothed belts with substantially parallel axes, each intended to cooperate with one of said two uprights, the axes of the toothed wheels and/or the axes of the pulleys driving the said toothed belts being substantially orthogonal to the rolling wheel axles,
• each of said uprights having a plurality of notches extending substantially perpendicular to the longitudinal axis of said upright, intended to accommodate the teeth of said toothed wheel or of said toothed belt cooperating with this upright and spaced apart by the value of the pitch of said wheel toothed belt or said toothed belt,
• each of the toothed wheels or toothed belts being mounted on a support movable relative to the frame of said carriage between two positions:
  • a spaced position in which at least a part of said toothed wheel or of said toothed belt mounted on said support projects laterally out of alignment with said frame;
  • a retracted position, in which the toothed wheel or the toothed belt mounted on said support faces said frame.

The invention therefore relates to a system which makes it possible to limit human intervention solely to placing the ordered goods in boxes, thanks to at least one automatically guided trolley which picks up the ordered objects from the shelves and which transports these objects to an order preparation area where an operator puts these objects in boxes.

This trolley is advantageously configured so as to be able to climb, that is to say to climb by clinging, on an upright in order to rise facing a shelving or along it, if the upright is an upright. fixed on or integrated into the shelving.

Furthermore, the climbing means allow the trolley to remain constantly engaged with the upright or uprights during its ascent or its descent and to keep the trolley substantially horizontal, which makes it possible to prevent a fall of the tray or of the object. carried by the cart.

The two mobile supports also allow the carriage to slide between two uprights when the mobile supports are retracted, then by moving the mobile supports apart, to climb along the uprights.

It will be noted that the two uprights are advantageously secured to two separate shelves, so as to allow the carriage to climb astride these two shelves.

According to the invention, said climbing means comprise means for preventing said carriage from tilting comprising at least one counter-wheel intended to roll on one of said uprights, mounted on one of said supports.

Thus, the frame of the trolley does not tilt and remains perfectly horizontal, which prevents it from jamming between the uprights during an ascent or descent.

According to the invention, said climbing means comprise two and only two toothed wheels and/or two and only two toothed belts.

This limits the risk of the carriage jamming between the uprights.

According to a particular embodiment of the invention, the upright is a C-shaped rail.

According to a particular embodiment of the invention, the upright is a U-shaped rail.

According to a particular embodiment of the invention, said uprights are uprights of two separate shelves, so as to allow the trolley to climb astride these two shelves.

According to a particular embodiment of the invention, an order preparation system as described above comprises means for fixing said uprights to said shelves.

In a particular embodiment of the invention, the uprights are fixed to the ground close to one or more shelves.

Preferably, said carriage has means for gripping an object storage bin.

The trolley can autonomously pick up or deposit a container on the shelf of a rack at its storage location, without external intervention, in particular without human intervention.

Such gripping means can comprise, for example, a telescopic shovel, telescopic side arms and/or a telescopic fork equipped with a finger for pushing or pulling a bin.

According to a particular embodiment of the invention, at least one of the rolling wheels and the motorized climbing means are driven by the same motor.

A system which is particularly simple to implement is thus obtained.

According to an advantageous embodiment of the invention, an order picking system as described above comprises means for braking the climbing means.

This secures the descent of the trolley, when the latter is faulty, and in particular when the electric battery supplying the motors of the climbing means is discharged.

The braking can in a particular embodiment of the invention be of the "viscous" type and obtained by magnetic braking, by shunting the armature of the motor.

According to a particular embodiment of the invention, one of said uprights is an upright of a first shelving and the other upright is an upright of a second shelving parallel to said first shelving, said first and second shelving delimiting a traffic aisle of said carriage.

Thus, the trolley can climb in support astride the uprights of two parallel shelving facing each other, placed on either side of the circulation aisle.

According to the invention, said supports are mounted substantially at two opposite ends of the frame of said carriage, along a diagonal.

The mass of the trolley, whether or not it is loaded, is thus distributed on either side of a diagonal of the frame, which limits the overhang and reduces the forces exerted on the counter-wheels.

Preferably, a chain is secured to each of said uprights and said notches are formed by the interior space of the links of said chains.

Advantageously, said chain is mounted at the bottom of the C-section rail forming the upright.

A shelving climbing ladder is thus obtained that is simple to implement and particularly easy to maintain, because in the event of localized wear of a notch, it suffices to change the link concerned. Also, it is easier and less expensive to change the chain rather than a full amount when the wear is distributed.

Advantageously, said toothed wheels or said toothed belts are driven by independent motors.

Thus, the two toothed wheels of the two climbing means can rotate at different speeds chosen by the control unit, to keep the carriage horizontal, if there are dimensional differences between the notches of the two uprights.

According to a particular embodiment of the invention, said means for preventing tilting comprise four counter-wheels per support, with axes orthogonal to the axes of the toothed wheels or toothed belts, arranged in pairs and intended to roll on two lateral faces. distinct from an amount.

Thus, the carriage cannot tilt to one side or the other of the diagonal line connecting said two opposite ends of the frame.

Advantageously, said climbing means comprise at least one support wheel, with an axis parallel to the axis of said toothed wheels or of said belts toothed, intended to roll on the side facing outward from the shelving of one of said uprights.

Thus, the lateral position of the trolley between the two racks is kept constant, which prevents the teeth of the toothed wheels or the notches of the belts from rubbing through the chain on the bottom of the C-profile rail and limits the occurrence of a premature wear.

5. List of Figures

• la figure 1 est une vue schématique, en perspective d'un entrepôt équipé d'un exemple de système de préparation de commandes ;
• la figure 2 est une représentation schématique en perspective d'un chariot à guidage automatique utilisé dans l'entrepôt illustré en référence à la figure 1 ;
• la figure 3 est une vue de détail des moyens de grimpe du chariot présenté en référence à la figure 2 ;
• la figure 4 est une vue en coupe d'un profilé utilisé comme montant des rayonnages illustrés en référence à la figure 1 ;
• les figures 5A à 5D illustrent les étapes successives effectuées par le chariot présenté en référence à la figure 2, pour grimper sur deux montants ;
• la figure 6 est une vue de détail de la figure 5C centré sur les moyens de grimpe du chariot ;
• la figure 7 est une vue schématique de détail d'un autre exemple de système de préparation de commandes;
• la figure 8 est une vue schématique de détail d'une variante de mise en œuvre des moyens de grimpe du système de préparation de commandes illustré sur la figure 2 ;
• la figure 9 est une représentation schématique en perspective d'un autre exemple de système de préparation de commandes ;
• la figure 10 est une vue de dessus du chariot présenté en référence à la figure 9, escaladant un rayonnage ;
• la figure 11 est une vue en perspective du chariot présenté en référence à la figure 9 qui entame un déplacement sur un niveau de rayonnage ;
• la figure 12 est une vue en perspective d'un autre exemple de système de préparation de commandes dans lequel un chariot grimpe entre deux rayonnages ;
• la figure 13 est une vue en perspective d'une autre variante de mise en œuvre des moyens de grimpe du système de préparation de commandes illustré en référence à la figure 2 ;
• la figure 14 est une vue de dessous d'un mode de réalisation d'un système de préparation de commandes selon l'invention dans lequel un chariot grimpe en appui sur deux rayonnages parallèles ;
• la figure 15 est une vue de côté du chariot présenté en référence à la figure 14.

Other characteristics and advantages of the invention will appear more clearly on reading the following description of two embodiments of the invention, given by way of simple illustrative and non-limiting examples, and the appended drawings, among which:

• the figure 1 is a schematic view, in perspective, of a warehouse equipped with an example of an order picking system;
• the picture 2 is a perspective schematic representation of an automated guided truck used in the warehouse illustrated with reference to the figure 1 ;
• the picture 3 is a detail view of the means of climbing of the trolley presented with reference to the picture 2 ;
• the figure 4 is a sectional view of a profile used as an upright of the shelving illustrated with reference to the figure 1 ;
• the figures 5A to 5D illustrate the successive steps carried out by the trolley presented with reference to the picture 2 , to climb on two uprights;
• the figure 6 is a detail view of the Fig. 5C centered on the climbing means of the trolley;
• the figure 7 is a schematic detail view of another example of an order picking system;
• the figure 8 is a detailed schematic view of an implementation variant of the climbing means of the order picking system illustrated in the picture 2 ;
• the figure 9 is a perspective schematic representation of another example of an order picking system;
• the figure 10 is a top view of the carriage shown with reference to the figure 9 , climbing a shelving;
• the figure 11 is a perspective view of the carriage shown with reference to the figure 9 which begins a movement on a shelving level;
• the figure 12 is a perspective view of another example of an order picking system in which a trolley climbs between two shelves;
• the figure 13 is a perspective view of another implementation variant of the climbing means of the order picking system illustrated with reference to the figure 2 ;
• the figure 14 is a bottom view of an embodiment of an order picking system according to the invention in which a trolley climbs supported on two parallel shelves;
• the figure 15 is a side view of the cart shown with reference to the figure 14 .

6. Detailed description of the invention 6.1. Example of order picking system

We have illustrated on the figure 10 a warehouse equipped with 1000 identical shelving arranged in parallel. The space between two shelving 1000 forms a bay 1001 which serves as a circulation aisle on the ground for robots 90. The framework of each shelving 1000 comprises uprights 1002 arranged at the head of bays and horizontal smooth 1003 fixed between each upright 1002. These rails 1003 correspond to floors or levels 1004 for storage or storage of bins 102.

On the figure 9 , there is shown schematically one of the self-guided carts 90, whose frame 901 is mounted on four wheels 900 and is equipped with two climbing modules 91 and a platform 92 for transporting the bins 102. This robot 90 is equipped a telescopic shovel, not shown, for handling the bins 102 transported on the plate 92.

The climbing modules 91 are each formed of a movable support which carries a toothed wheel 902, a guide roller 903 and a counter-wheel 904. These supports are laterally movable relative to the frame 901 and can be moved apart on the side of the robot to climb uprights 1002, or to be retracted, when the robot 90 rolls on the ground or on smooth 1003 of a rack 1000. When each mobile support is in the separated position, the toothed wheel 902, the guide roller 903 and the counter-wheel 904 project laterally out of alignment with the frame so as to be able to cooperate with the uprights 1002 of two shelves. Furthermore, in the retracted position, the mobile supports allow the robot 90 to cross the entrance to the aisle formed by the two uprights 1002. In addition, it is noted that the axes of the two toothed wheels 902 are substantially orthogonal to the axes of the driving wheels. 900 rolling.

As can be seen on the figure 10 , the robot 90 can climb astride two shelves 1000 arranged opposite each other of the span 1001 with the help of the uprights 1002 present at the end of the span 1001. In this mode of particular embodiment of the invention, the uprights 1002 are U-sections whose perforated bottom serves as a ladder 1005 for the toothed wheels 902 of the robot 90. In addition, the robot 90 is retained by the roller and the counter-wheel of each support, resting on the uprights 1002.

To start an ascent, the robot 90 aligns the climbing modules 91 and more particularly the cogwheels 902 with the ladders 1005 of the uprights 1002. Then, the robot 90 separates the climbing modules 91 so that the cogwheels 902 mesh with the ladders 1005. Then, he climbs the ladders 1005 up to the level 1004 where the tray 102 that he has to transport is stored.

As illustrated by figure 11 , arrived at level 1004, the robot 90 deploys its wheels 900 on the sides so that they rest on two heddles 1003 facing each other of the aisle 1001. Then, the robot 90 retracts the two climbing modules 91 to free itself from the uprights 1002. The robot 90 can thus move longitudinally on the heddles 1003 which support and serve as a guide or raceway for the robot 90. When the robot 90 has reached the location of storage of the desired tray 102, he aligns himself, takes the tray 102 from one or the other of the two shelves 1000, using the telescopic shovel.

Once in possession of the tray 102 to be conveyed, the robot 90 joins the end of the shelving, to descend to the ground using the two climbing modules 91 clinging to the uprights 1002.

6.2. Example of embodiment according to the invention

According to another exemplary embodiment of the invention illustrated in the figure 14 , a robot 1400 shown in bottom view is carried by four idler wheels 1401 and towed by two drive wheels 1402 actuated by motors 1403. Thus, on substantially flat and horizontal ground, the self-guided carriage 1400 can follow straight, curved and turns on itself according to the command of the rotation of the motors. It moves around in the warehouse, in particular in aisles delimited by two substantially parallel shelving units 1410 .

To climb shelving 1410, the frame of the robot 1400 is equipped, in a diagonal of the frame, respectively at its rear-right end and at its front-left end, with a retractable climbing module 1404 capable of cooperating with an upright 1411 of the two shelves 1410 delimiting the aisle in which the robot 1400 is located. Each climbing module 1404 comprises a base 1405 which supports a motor 1406 actuating a toothed wheel 1407, a lateral support wheel 1408 and four counter-wheels 1409.

As can be seen on the figure 15 , which is a perspective detail view of the retractable climbing module 1404 in the separated position, the wheel toothed 1407 cooperates with the links of a roller chain 1500 held at the bottom of a C-shaped rail 1501 fixed to the upright 1411 of the shelves 1410.

Each 1406 motor is independently controlled by a motor shaft position control module (not shown on the figure 14 and 15 ), to ensure that the 1400 robot remains horizontal and the load does not fall. Thus, the control module adapts the speed of each motor 1406 to compensate for the difference between the rollers of the chains fixed on each upright, the length of which may vary during their manufacture, given the manufacturing tolerances.

It should indeed be noted that, on uprights of 10 to 12m, fitted with chains of the same type, the difference in position between the end rollers of the two chains can reach 20mm.

On the figure 15 it can also be seen that the robot 1400 comprises a system for translation of the climbing module 1404 between a separated position and a retracted position. This translation system comprises two pulleys 1502 and a cogged belt 1503 secured to the base 1405. To extend or retract the climbing module 1404, the driving pulley 1502, driven by a motor (not shown on figure 15 ), drives the cogged belt 1503 which controls the translation of the climbing module 1404.

The lateral support wheel 1408 serves as a stop in contact with the upright 1411 when exiting the climbing module 1404. This wheel therefore guarantees the relative position of the toothed wheel 1407 with respect to the chain 1500 and the bottom of the C-section. 1501 and thus prevents the teeth of the toothed wheel 1407 from rubbing against the bottom of the section 1501.

It is therefore the direction of rotation of the stepper motor which makes it possible to move the climbing module 1404 between the retracted position for movement on the ground and the separated position for climbing on the shelves.

6.3. Another example of an order picking system

On the figure 1 , there is illustrated a warehouse 1 intended for the storage of products with a view to their dispatch. This warehouse is divided between a storage area 10 and an order picking area 11 .

In the preparation area 11 are arranged order preparation stations 12 on which operators 13 prepare packages 14 with the products of an order.

The storage area 10 is organized in shelves 100 with shelves on several levels 101, shelves on which are stored bins 102 which contain the stored products or articles.

A fleet of automatically guided trucks 103 ("Automatic Guided Vehicle" in English) transports the bins 102 between the storage area 10 and the order picking stations 12.

Each robot 103 receives the location information of the bin 102 containing the item to be picked up, to complete an order processed by one of the operators 13. The robot 103 goes to the location where the bin 102 is stored and the extracted from level 101 of shelving 100 specified by the location information received. Then, the robot 103 transports the tray 102 to the order picking station 12. The operator 13 only has to pick up the quantity of items ordered and pack them. The robot 103 then brings the bin 102 back to its location in the storage area 10.

To roll on the ground, as shown in the figure 2 , the robot 103 is equipped with two front driving wheels 200, independently motorized, and an idler wheel at the rear (not represented on the figure 2 ). This idler wheel ensures the stability and the isostatism on the ground of the robot 103.

In variants of this particular example, the robot can move on two wheels and skates or be equipped with several idler wheels.

Due to the independent motorization of the wheels 200, the robot has a very small turning radius making it possible to perform a 90 degree turn on a small surface in order to line up with a shelving.

It will be noted that the robots 103 are compact and light. Their mass is in fact less than 30 kilograms.

On the figure 2 , it can be seen that the frame of the robot 103 is equipped with two cogwheels 202 or climbing sprockets, two guide rollers side 203 and an anti-tipping device 204, which allow the robot to climb on a rack 100.

In this particular example, the axes of the two toothed wheels 202 are substantially parallel to the axes of the drive wheels 200 for rolling and the axes of the guide rollers 203 are orthogonal to those of the toothed wheels 202.

Advantageously, the motors which independently actuate the two driving wheels 200 ensure the motor skills of the robot when it climbs by each driving a toothed wheel 202.

On detail view picture 3 , it can be seen that the anti-tilt device 204 comprises, substantially in line with the two toothed wheels 202, two substantially vertical arms 300, which support at their distal ends a shaft 301 secured to the cams 302. At the end of each of the cams 302 , is mounted against a wheel 303 free to rotate. It is also noted that the axis of the counter-wheels 303 is parallel to the axis of the drive wheels 202.

Finally, the robot 103 comprises a telescopic shovel 205 in order to handle, that is to say ensure the gripping of the tray 102. This telescopic shovel 205 is represented schematically on the figure 2 in transport position. Thus the robot 103 is capable of picking up or depositing the bins 102, whatever the level 101 of the shelf of the shelving 100.

As illustrated by figure 6 which is a detail view of the Fig. 5C , the shelving 100 comprises two vertical uprights 600 which serve as a raceway for the robot 103 during climbing. The uprights 600 are obtained from a "C" shaped rail, one face 601 of which comprises notches 602, or perforations, which form a ladder 603. The notches 602 regularly spaced by the value of the pitch of the toothed wheels 202 are extend substantially perpendicular to the longitudinal axis of the uprights 600.

As can be seen on the figure 4 which is a sectional view of a profiled rail used as an upright of the shelves, the profile 400 of the uprights 600 is a C-shaped profile, which has a slot 401 between two flanges 402 on the face opposite the ladder 603. This slot 401 allows the wheel toothed 202 to reach the bottom of the section 400 and to mesh in the notches 602. The toothed wheel 202 and the scale 603 thus cooperate in the manner of a rack and pinion mechanism.

On the figure 4 , it is also noted that the folded wings 402 of the profile 400 form two holding surfaces 403, on either side of the slot 204. These holding surfaces 403, facing the ladder 603, are intended to serve as support and rolling surfaces for the counter-wheels 303, so as to take up the forces corresponding to the weight of the robot 103 and its load, which are cantilevered, and to prevent the robot tipping over during climbing.

To allow the passage of the counter-wheels 303, the profile of the upright 600 is hollowed out in its lower part, as can be seen in the figure 6 .

On the figures 5A to 5D , the steps have been shown allowing the robot 103 approaching the shelving 100, to climb on the latter to reach a bin 102 stored at the second level 101.

The robot 103 programmed to take the tray 102 from the second level 101 first presents itself facing the shelving 100 by aligning itself on the uprights 600 as shown in figure 5A . The robot 103 then advances until the teeth of the sprockets 202 enter the notches 602 of the ladders 603 of the uprights 600, as illustrated in figure 5B .

Then, the counter-wheels 303 of the anti-tilt device 204 are introduced into the section 400 as can be seen in the Fig. 5C and the detail view of the figure 6 . For this, the shaft 301 performs a rotation 304, which makes it possible to insert the cams 302 into the slots 401 and to engage the counter-wheels 303 in an interior volume 404 of the uprights 600.

Finally, the rotation of the toothed wheels 202 allows the robot 103 to climb on the uprights 600 of the shelving 100, while the counter-wheels 303 roll on the support surfaces 403 of the uprights 600, which makes it possible to maintain the attitude of the robot 103 and prevent it from tipping over.

During this ascent, the robot 103 is guided laterally in the upright 600 by the lateral guide rollers 203.

When the robot arrives in front of the second level 101 (see the figure 5D ), the robot 103, using the telescopic shovel 205 shown schematically, grabs the tray 102 and brings it back directly above the frame 201, in the transport position.

Going down from the shelving 100, the robot 103 when it reaches the ground releases the anti-tipping device 204 of the uprights 600 to be able to move away, then it rolls to the order picking area.

According to a variant, partially illustrated on the figure 8 , the robot is equipped with two caterpillars 801 to climb on uprights 800, which mesh on a rack 802 formed of a thin stamped sheet housed in each of the uprights. It will be noted that the footprint of the rack 802 is adapted to cooperate with the caterpillar 801, which makes it possible to reduce the noise generated during climbing.

On this figure 8 , it is also noted that the caterpillar 801 is formed of a toothed belt driven by a first pulley and tensioned by a second idler pulley.

According to a variant, each caterpillar 801 cooperates with notches which form a scale on an upright of a shelf.

According to another variant, with reference to the figure 13 , the robot 1300 is equipped with two drive wheels 1301 arranged at one end of the frame 1302 and two removable counter-wheels 1303 at this same end.

On the ground, the driving wheels 1301 allow the movement of the robot 1300. These same wheels 1301 allow the robot to climb on the uprights 1305 of the shelves.

During an ascent, these driving wheels 1301 are in contact with a front face 1304 of the sections constituting the uprights 1305, while the counter-wheels 1303 fall back on a rear face 1306 of the uprights 1305.

Advantageously, the tread of these wheels 1301 is non-slip or has studs.

The weight of the robot 1300 which is cantilevered with respect to the driving wheels 1301 creates a buttress which produces the friction force allowing the escalation of the upright. It will be noted that advantageously, the friction force increases with the weight of the robot 1300 and its load in the tray 102.

6.4. Another example of an order picking system

According to another exemplary embodiment, the robot is equipped with two motorized drums 700, each mounted on one side of the robot frame. As can be seen on the figure 7 , each drum 700 is formed of two discs 701 held together by connecting rods 702. For climbing, the upright 703 is a U-shaped profile equipped with a strap 704 whose first end is fixed to the top of the upright 703 and which has a hook 705 fixed to its second end.

To climb the upright, the robot hooks a rod 702 from the drum to the hook 705 by initiating the rotation of the motor which drives the rotation of the drum 700. Then, the robot climbs along the shelving by wrapping the strap 704 around the drum 700, like a winch. To go down, just unroll the strap 704 around the drum.

During vertical movement, the discs 701 of the drum 700 are laterally guided by the sides 706 of the upright 703.

6.5. Another example of an order picking system

In another exemplary embodiment illustrated in the figure 12 , a robot 1200 is equipped at the four ends of a frame 1201 with two pairs of retractable toothed wheels 1202 each mounted on a movable axis.

As can be seen on the figure 12 , the robot 1200 can climb between two shelves 1203 arranged parallel and facing each other on either side of an aisle 1204, on which are fixed uprights 1205 identical to those presented with reference to the figure 4 and 6 , which face each other.

To climb the shelves 1203, the robot 1200, after having aligned itself with the uprights 1205, deploys the four toothed wheels 1202 by actuating the movable axes, which allows the toothed wheels 1202 to mesh with the ladders of the four uprights 1205 The rotation of the toothed wheels 1202 allows to move the robot 1200 vertically, which can climb or descend along the uprights.

It will be noted that, in this particular embodiment, the weight of the robot 1200 is distributed over the four uprights 1205.

6.6. Other Optional Features and Advantages of the Invention

• d'équiper un chariot à guidage automatique de deux roues motrices centrées sur celui-ci, tandis que deux roues folles sont disposées en périphérie et assurent la stabilité du chariot. Cette géométrie des trains roulants est alors couplée avec un système de balancier qui permet de garantir l'isostatisme et de répartir le poids du robot et de sa charge, sur les quatre roues, indépendamment des imperfections du sol ;
• un dispositif de freinage sur le robot pour les phases d'ascension et descente ;
• une descente automatique du robot en cas d'anomalie, par exemple en cas de perte de puissance électrique. Dans cette situation, l'outil de préhension est rangé, les freins sont relâchés, et la vitesse de descente jusqu'au sol est limitée en exerçant un champ magnétique sur le ou les moteurs des moyens de grimpe, de sorte à créer un frein visqueux ;
• une localisation en altitude, par reconnaissance des étagères qui supportent des bacs, par reconnaissance des bacs par exemple à l'aide d'une puce RFID (de l'acronyme anglais Radio Fréquency Indentification), ou encore par les encoches ou crans qui forment les échelles d'escalade ;
• des fourches ou une pelle télescopique sur le robot pour lever, translater et baisser le bac, dans lequel, le déplacement vertical du robot permet de lever et baisser le bac nécessaire à la prise ou à la dépose de celui-ci ;
• des bras latéraux télescopiques sur le robot qui permettent de pousser et/ou tirer des bacs, en les faisant glisser sur leur étagère ;
• un bras qui pousse et/ou tire un bac par l'avant, en le faisant glisser sur son étagère ;
• un doigt au bout d'une fourche télescopique qui permet de pousser ou tirer un bac ;
• d'équiper le chariot d'une balance de pesée des bacs qui permet de faire un contrôle continu de l'inventaire du bac ;
• des montants d'escalade installés à proximité immédiate des rayonnages, qui permettent au robot de monter et descendre le long des rayonnages, ces montants pouvant être fixés au sol ou à un rayonnage
• une chaîne qui remplace les échelles à encoches des montants.

In variants of the embodiments of the invention detailed above, it may also be provided:

• to equip an automatically guided truck with two drive wheels centered thereon, while two idler wheels are arranged on the periphery and ensure the stability of the truck. This geometry of the running gear is then coupled with a pendulum system which makes it possible to guarantee isostatism and to distribute the weight of the robot and its load, on the four wheels, independently of the imperfections of the ground;
• a braking device on the robot for the ascent and descent phases;
• an automatic descent of the robot in the event of an anomaly, for example in the event of loss of electrical power. In this situation, the gripping tool is put away, the brakes are released, and the speed of descent to the ground is limited by exerting a magnetic field on the motor(s) of the climbing means, so as to create a viscous brake ;
• location at altitude, by recognition of the shelves which support the bins, by recognition of the bins for example using an RFID chip (from the English acronym Radio Frequency Identification), or even by the notches or notches which form the climbing ladders;
• forks or a telescopic shovel on the robot to raise, translate and lower the tray, in which the vertical movement of the robot makes it possible to raise and lower the tray necessary for picking up or removing it;
• telescopic side arms on the robot which allow to push and/or pull bins, by sliding them on their shelf;
• an arm that pushes and/or pulls a bin from the front, by sliding it on its shelf;
• a finger at the end of a telescopic fork which makes it possible to push or pull a bin;
• to equip the trolley with a bin weighing scale which allows continuous monitoring of the inventory of the bin;
• climbing uprights installed in the immediate vicinity of the racks, which allow the robot to climb and descend along the racks, these uprights can be fixed to the floor or to a rack
• a chain that replaces the notched ladders of the uprights.

The examples of order picking systems described above can be used in different types of industrial environments, and for example in an order picking logistics center or within a supply chain supplying spare parts or components of a production line.

Claims (9)

1. An order picking system comprising:

   - two uprights (1411) attached to two separate shelves (1410);

   - a self-guiding trolley (1400) having at least two running wheels (1402) for picking objects from an order in at least one of said racks (1410), and motorised climbing means (1404) adapted to cooperate with said uprights so as to allow said trolley (1400) to rise along said uprights,

   said climbing means comprising two and only two toothed wheels (1407) and/or two and only two toothed belts with substantially parallel axes, each intended to cooperate with one of said two uprights (1411), the axes of the toothed wheels (1407) and/or the axes of the pulleys driving said toothed belts being substantially orthogonal to the axes of the rolling wheels (1402),

   each of said posts (1411) having a plurality of notches extending substantially perpendicular to the longitudinal axis of said post (1411) for receiving the teeth of said toothed wheel (1407) or toothed belt cooperating with that post (1411) and spaced apart by the amount of the pitch of said toothed wheel

   (1407) or toothed belt, each of the sprockets (1407) or toothed belts being mounted on a support movable relative to the frame of said carriage (1400) between two positions:

   - a retracted position, in which the sprocket (1407) or toothed belt mounted on said carrier faces said frame; and

   - a retracted position, in which the toothed wheel (1407) or toothed belt mounted on said support faces said frame;

   characterised in that said climbing means (1404) comprises means for preventing tilting of said carriage (1400) comprising at least one counterwheel (1409) for rolling on one of said posts (1411), mounted on one of said supports,

   and in that said supports are mounted substantially at two opposite ends of the frame of said carriage (1400), along a diagonal.
2. The order picking system according to claim 1, characterised in that said uprights (1411) are C-profile rails (1501).
3. The order picking system according to any one of claims 1 and 2, characterised in that said uprights (1411) are uprights of said rack (1410).
4. The order picking system according to any one of claims 1 to 3, characterised in that it comprises means for attaching said uprights (1411) each to one of said racks (1410).
5. The order picking system according to any one of claims 1 to 4, characterised in that said trolley (1400) has means for gripping an object storage bin (102).
6. The order picking system according to any one of claims 1 to 5, characterised in that at least one of said running wheels (1402) and said motorised climbing means (1404) are driven by the same motor.
7. The order picking system according to any one of claims 1 to 6, characterised in that it comprises means for braking said climbing means (1404).
8. The order picking system according to any one of claims 1 to 7, characterised in that one of said uprights (1411) is an upright of a first rack (1410) and the other upright (1411) is an upright of a second rack (1410) parallel to said first rack (1410), said first and second racks (1410) delimiting a circulation aisle of said trolley (1400).
9. The order picking system according to any one of claims 1 to 8, characterised in that a chain (1500) is attached to each of said uprights (1411) and in that said notches are formed by the inner space of the links of said chains (1500).

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